115 lines
3.0 KiB
Bash
Executable File
115 lines
3.0 KiB
Bash
Executable File
#!/bin/bash
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# =============================================================================
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# ArduPilot Flight Demo with Camera Viewer
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# =============================================================================
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# Runs the drone controller and camera viewer together.
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#
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# Usage: ./scripts/run_flight_demo.sh [options]
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#
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# Options:
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# --pattern square|circle|hover Flight pattern (default: square)
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# --altitude HEIGHT Flight altitude in meters (default: 5)
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# --size SIZE Pattern size in meters (default: 5)
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# --no-camera Skip camera viewer
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# =============================================================================
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set -e
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
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# Parse arguments
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PATTERN="square"
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ALTITUDE="5"
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SIZE="5"
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SHOW_CAMERA=true
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while [[ $# -gt 0 ]]; do
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case $1 in
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--pattern|-p)
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PATTERN="$2"
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shift 2
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;;
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--altitude|-a)
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ALTITUDE="$2"
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shift 2
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;;
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--size|-s)
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SIZE="$2"
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shift 2
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;;
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--no-camera)
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SHOW_CAMERA=false
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shift
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;;
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*)
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shift
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;;
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esac
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done
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# Deactivate any existing venv
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if [ -n "$VIRTUAL_ENV" ]; then
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deactivate 2>/dev/null || true
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fi
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# Source ArduPilot environment
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if [ -f "$HOME/.ardupilot_env" ]; then
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source "$HOME/.ardupilot_env"
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fi
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if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
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source "$HOME/venv-ardupilot/bin/activate"
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fi
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echo "=============================================="
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echo " ArduPilot Flight Demo"
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echo "=============================================="
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echo ""
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echo " Pattern: $PATTERN"
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echo " Altitude: ${ALTITUDE}m"
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echo " Size: ${SIZE}m"
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echo " Camera: $SHOW_CAMERA"
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echo ""
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echo "=============================================="
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echo ""
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# Check if ROS 2 is available for camera viewer
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ROS2_AVAILABLE=false
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if command -v ros2 &> /dev/null; then
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ROS2_AVAILABLE=true
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fi
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# Start camera viewer in background if requested and ROS 2 is available
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CAMERA_PID=""
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if [ "$SHOW_CAMERA" = true ]; then
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if [ "$ROS2_AVAILABLE" = true ]; then
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echo "[INFO] Starting camera viewer..."
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source /opt/ros/humble/setup.bash 2>/dev/null || source /opt/ros/jazzy/setup.bash 2>/dev/null || true
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python "$PROJECT_DIR/src/camera_viewer.py" --topic /camera/image_raw &
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CAMERA_PID=$!
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sleep 2
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else
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echo "[WARN] ROS 2 not available - camera viewer disabled"
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echo "[INFO] To view camera, run Gazebo with camera in the world"
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fi
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fi
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# Cleanup function
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cleanup() {
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echo ""
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echo "[INFO] Cleaning up..."
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if [ -n "$CAMERA_PID" ]; then
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kill $CAMERA_PID 2>/dev/null || true
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fi
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}
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trap cleanup EXIT INT TERM
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# Run the flight controller
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echo "[INFO] Starting flight controller..."
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cd "$PROJECT_DIR"
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python scripts/run_ardupilot.py --pattern "$PATTERN" --altitude "$ALTITUDE" --size "$SIZE"
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echo ""
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echo "[OK] Flight demo complete!"
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